{"id":"https://openalex.org/W2937633511","doi":"https://doi.org/10.3390/s19081770","title":"Multi-Ray Modeling of Ultrasonic Sensors and Application for Micro-UAV Localization in Indoor Environments","display_name":"Multi-Ray Modeling of Ultrasonic Sensors and Application for Micro-UAV Localization in Indoor Environments","publication_year":2019,"publication_date":"2019-04-13","ids":{"openalex":"https://openalex.org/W2937633511","doi":"https://doi.org/10.3390/s19081770","mag":"2937633511","pmid":"https://pubmed.ncbi.nlm.nih.gov/31013888"},"language":"en","primary_location":{"id":"doi:10.3390/s19081770","doi":"https://doi.org/10.3390/s19081770","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19081770","pdf_url":"https://www.mdpi.com/1424-8220/19/8/1770/pdf?version=1555137777","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","jufo-1","medline","norway-1"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/8/1770/pdf?version=1555137777","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005302808","display_name":"Lingyu Yang","orcid":"https://orcid.org/0000-0002-6043-2396","observed_orcids":["https://orcid.org/0000-0002-6043-2396"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyu Yang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110608021","display_name":"Xiaoke Feng","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoke Feng","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054506908","display_name":"Jing Zhang","orcid":"https://orcid.org/0000-0001-8549-3286","observed_orcids":["https://orcid.org/0000-0001-8549-3286"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jing Zhang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036995146","display_name":"Xiangqian Shu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangqian Shu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5054506908"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":1800,"currency":"CHF","value_usd":1824},"apc_paid":{"value":1800,"currency":"CHF","value_usd":1824},"fwci":2.9262,"has_fulltext":true,"cited_by_count":32,"citation_normalized_percentile":{"value":0.90370536,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"19","issue":"8","first_page":"1770","last_page":"1770"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4771000146865845,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4771000146865845,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.28130000829696655,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.1387999951839447,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ultrasonic-sensors","display_name":"ultrasonic sensors","score":0.7570000290870667},{"id":"https://openalex.org/keywords/micro-aerial-vehicles","display_name":"micro air vehicles","score":0.6669999957084656},{"id":"https://openalex.org/keywords/indoor-positioning","display_name":"indoor positioning","score":0.9660000205039978},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"inertial measurement unit","score":0.847000002861023},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"sensor fusion","score":0.8629999756813049},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"extended Kalman filter","score":0.9179999828338623},{"id":"https://openalex.org/keywords/jacobian-computation","display_name":"Jacobian computation","score":0.718999981880188}],"concepts":[{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.8278945684432983},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8271247148513794},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7587835788726807},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6971107721328735},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5989267230033875},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5476738810539246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5223868489265442},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4665510356426239},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4574536383152008},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4433121085166931},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.37372851371765137},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3425120413303375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2261562943458557},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09571456909179688},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s19081770","doi":"https://doi.org/10.3390/s19081770","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19081770","pdf_url":"https://www.mdpi.com/1424-8220/19/8/1770/pdf?version=1555137777","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","jufo-1","medline","norway-1"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:31013888","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31013888","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":"Journal Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:6514676","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6514676","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:1d06229122b9427eb4e79c764477e4df","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/1d06229122b9427eb4e79c764477e4df","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 19, Iss 8, p 1770 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s19081770","doi":"https://doi.org/10.3390/s19081770","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19081770","pdf_url":"https://www.mdpi.com/1424-8220/19/8/1770/pdf?version=1555137777","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","jufo-1","medline","norway-1"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"score":0.7200000286102295,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G4149373436","display_name":null,"funder_award_id":"61273099,61304030","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7475731463","display_name":null,"funder_award_id":"61304030","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7911777889","display_name":null,"funder_award_id":"61273099","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2937633511.pdf","grobid_xml":"https://content.openalex.org/works/W2937633511.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1518620453","https://openalex.org/W1586316934","https://openalex.org/W1602123533","https://openalex.org/W1607755404","https://openalex.org/W2004835121","https://openalex.org/W2006241051","https://openalex.org/W2011970787","https://openalex.org/W2059582912","https://openalex.org/W2076910131","https://openalex.org/W2085101420","https://openalex.org/W2146229616","https://openalex.org/W2155364716","https://openalex.org/W2469710526","https://openalex.org/W2475183197","https://openalex.org/W2740120350","https://openalex.org/W2754376311","https://openalex.org/W2804948039","https://openalex.org/W2884792986","https://openalex.org/W4234994399","https://openalex.org/W4238681124"],"related_works":["https://openalex.org/W2765080098","https://openalex.org/W2385749422","https://openalex.org/W2355290145","https://openalex.org/W2353465659","https://openalex.org/W2007405763","https://openalex.org/W2009888974","https://openalex.org/W1973973903","https://openalex.org/W2992410632","https://openalex.org/W2025756212","https://openalex.org/W2415692232"],"abstract_inverted_index":{"Due":[0],"to":[1,58,97],"its":[2,16],"payload,":[3],"size":[4],"and":[5,45,62,88,105,122,125,148],"computational":[6],"limits,":[7],"localizing":[8],"a":[9,24,50,60,112,123,132],"micro":[10],"air":[11],"vehicle":[12],"(MAV)":[13],"using":[14],"only":[15,39],"onboard":[17],"sensors":[18,104],"in":[19,27],"an":[20,32,90],"indoor":[21,33],"environment":[22],"is":[23,56,86,95],"challenging":[25],"problem":[26],"practice.":[28],"This":[29],"paper":[30],"introduces":[31],"localization":[34,146],"approach":[35],"that":[36],"relies":[37],"on":[38,111,128],"the":[40,66,71,79,83,99,102,106,117,120,129],"inertial":[41],"measurement":[42,84,151],"unit":[43],"(IMU)":[44],"four":[46],"ultrasonic":[47,53,72,103],"sensors.":[48,73],"Specifically,":[49],"novel":[51],"multi-ray":[52],"sensor":[54,115],"model":[55],"proposed":[57],"provide":[59],"rapid":[61],"accurate":[63],"approximation":[64],"of":[65,70,82,119],"complex":[67],"beam":[68],"pattern":[69],"A":[74,108],"fast":[75],"algorithm":[76],"for":[77],"calculating":[78],"Jacobian":[80],"matrix":[81],"function":[85],"presented,":[87],"then":[89],"extended":[91],"Kalman":[92],"filter":[93],"(EKF)":[94],"used":[96],"fuse":[98],"information":[100],"from":[101],"IMU.":[107],"test":[109],"based":[110,127],"MaxSonar":[113],"MB1222":[114],"demonstrates":[116],"accuracy":[118],"model,":[121],"simulation":[124],"experiment":[126],"T":[130],"h":[131],"l":[133],"e":[134],"s":[135],"I":[136,137],"MAV":[138],"platform":[139],"are":[140],"conducted.":[141],"The":[142],"results":[143],"indicate":[144],"good":[145],"performance":[147],"robustness":[149],"against":[150],"noises.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2026-09-29T14:09:16.559479","created_date":"2025-10-10T00:00:00"}
